#pragma once
#include "zhuifeng.h"

typedef struct
{
 double x = 0;
 double y = 0;
 int obs = 0;
} MORPHIN_pose;

typedef struct
{
 double Acces_rate = 0;
 double Security = 0;
 double Target_orientation = 0;
} MORPHIN_Asse;

typedef struct
{
    bool flag = false;//默认可通行
    bool Car_stop = false; //默认小车可以移动 //car是否允许移动/到达终
	bool left_flag = false;
	bool right_flag = false;
    int Line_sqe;
    int Line_num = 0; 
	int Line_cur_num = 0; 
	double Line_angle = 0;
	double Line_R = 0;
	double Line_finall_Assessment = 0;
	int Gear = 0;
	MORPHIN_Asse Line_Assessment;
	MORPHIN_pose Line_pose[80];
} MORPHIN_LINE;



typedef struct 
    { 
        double latitude; //经度 
        double longitude; //纬度 
        float speed; //速度 
        float direction; //航向 
        int year; 
        int month; 
        int day;
        int hour;
        int minute;
        float second;
    }GPS_point;